// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// Sensors are not available in HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE

static void ReadSCP1000(void) {
}

 #if CONFIG_SONAR == ENABLED
static void init_sonar(void)
{
  #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
    sonar.calculate_scaler(g.sonar_type, 3.3);
  #else
    sonar.calculate_scaler(g.sonar_type, 5.0);
  #endif
}
 #endif

static void init_barometer(void)
{
    barometer.calibrate(mavlink_delay);
    ahrs.set_barometer(&barometer);
    gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}

// return barometric altitude in centimeters
static int32_t read_barometer(void)
{
	#if CONFIG_BARO == AP_BARO_MS5611
		barometer.update();
	#endif
	barometer.read();
    return baro_filter.apply(barometer.get_altitude() * 100.0);
}


#endif // HIL_MODE != HIL_MODE_ATTITUDE

static void init_compass()
{
    compass.set_orientation(MAG_ORIENTATION);                                                   // set compass's orientation on aircraft
    if (!compass.init() || !compass.read()) {
        // make sure we don't pass a broken compass to DCM
        Serial.println_P(PSTR("COMPASS INIT ERROR"));
        return;
    }
    ahrs.set_compass(&compass);
#if SECONDARY_DMP_ENABLED == ENABLED
    ahrs2.set_compass(&compass);
#endif
}

static void init_optflow()
{
#if OPTFLOW == ENABLED
	if( optflow.init(false) == false ) {
        g.optflow_enabled = false;
        Serial.print_P(PSTR("\nFailed to Init OptFlow "));
    }
    // suspend timer while we set-up SPI communication
    //timer_scheduler.suspend_timer();

    optflow.set_orientation(OPTFLOW_ORIENTATION);                       // set optical flow sensor's orientation on aircraft
    optflow.set_frame_rate(2000);                                                       // set minimum update rate (which should lead to maximum low light performance
    optflow.set_resolution(OPTFLOW_RESOLUTION);                                 // set optical flow sensor's resolution
    optflow.set_field_of_view(OPTFLOW_FOV);                                     // set optical flow sensor's field of view

    // resume timer
    //timer_scheduler.resume_timer();
#endif
}

// read_battery - check battery voltage and current and invoke failsafe if necessary
// called at 10hz
#define BATTERY_FS_COUNTER  100     // 100 iterations at 10hz is 10 seconds
static void read_battery(void)
{

	if(g.battery_monitoring == 0){
		battery_voltage1 = 0;
		return;
	}

    if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
		battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
	if(g.battery_monitoring == 4) {
		current_amps1	 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; 	//reads power sensor current pin
		current_total1	 += current_amps1 * 0.02778;	// called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
	}

	#if BATTERY_EVENT == ENABLED
	if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)){
        low_battery_event();

		#if COPTER_LEDS == ENABLED
		if ( bitRead(g.copter_leds_mode, 3) ){	// Only Activate if a battery is connected to avoid alarm on USB only
			if (battery_voltage1 > 1){
				piezo_on();
            }else{
				piezo_off();
			}
    }
	}else if ( bitRead(g.copter_leds_mode, 3) ){
		piezo_off();
		#endif // COPTER_LEDS
	}
	#endif //BATTERY_EVENT
}
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
void read_receiver_rssi(void)
{
    /*
    RSSI_pin.set_pin(g.rssi_pin);
    float ret = RSSI_pin.read();
    receiver_rssi = constrain(ret, 0, 255);
    */
}